Simulation of Cyber Physical Systems Using Modelica: Case of Master Side in Tactile Internet

Cyber-physical systems combine computational, communication, and physical components. They are employed in many fields, such as manufacturing, transportation, and robotics. CPS's master side overseas, directs, and organizes the entire system. Usually, it provides instructions to actuators on a slave side which gathers information from sensors on the physical parts and sends them back to the master side to control the overall system behavior. Building a CPS system for research purposes is not a simple task, using simulations is a viable choice to explore the possibility and feasibility of such systems before building them. In this work, we suggest the utilization of the simulation tool Modelica to build the master side of a CPS system. This mainly consists of a haptic interface that can manipulate and intervene in a distant physical system, through the slave, while feeding back the force-torque information from the slave. Modelica's choice is based on this software's electromechanical simulation capability. The result of the work shows the utility and usefulness of the simulation tool to generate force signals for the remote end control while receiving torque feedback to simulate the kinesthetic feeling of a haptic interface.